ublox.h

//
// Created by SQ5RWU on 2016-12-27.
//

#ifndef RS41HUP_UBLOX_H
#define RS41HUP_UBLOX_H
#include <stdint.h>

typedef struct {
  int32_t lat_raw;
  int32_t lon_raw;
  int32_t alt_raw;
  int32_t speed_raw;
  uint8_t sats_raw;
  uint8_t seconds;
  uint8_t minutes;
  uint8_t hours;
  uint8_t fix;
  uint8_t gpsFixOK;
  uint8_t psmState;
  uint16_t pDOP;
  uint16_t ok_packets;
  uint16_t bad_packets;
} GPSEntry;

typedef struct  __attribute__((packed)){
  uint8_t sc1; // 0xB5
  uint8_t sc2; // 0x62
  uint8_t messageClass;
  uint8_t messageId;
  uint16_t payloadSize;
} uBloxHeader;

typedef struct {
  uint8_t ck_a;
  uint8_t ck_b;
} uBloxChecksum;

typedef struct {
  uint32_t iTOW;		//GPS time of week of the navigation epoch. [- ms]
  uint16_t year;		//Year (UTC) [- y]
  uint8_t month;		//Month, range 1..12 (UTC) [- month]
  uint8_t day;		  //Day of month, range 1..31 (UTC) [- d]
  uint8_t hour;		  //Hour of day, range 0..23 (UTC) [- h]
  uint8_t min;		  //Minute of hour, range 0..59 (UTC) [- min]
  uint8_t sec;		  //Seconds of minute, range 0..60 (UTC) [- s]
  uint8_t valid;		//Validity flags (see graphic below) [- -]
  uint32_t tAcc;		//Time accuracy estimate (UTC) [- ns]
  int32_t nano;		  //Fraction of second, range -1e9 .. 1e9 (UTC) [- ns]
  uint8_t fixType;	//GNSSfix Type: [- -]
  uint8_t flags;		//Fix status flags (see graphic below) [- -]
  uint8_t flags2;		//Additional flags (see graphic below) [- -]
  uint8_t numSV;		//Number of satellites used in Nav Solution [- -]
  int32_t lon;		  //Longitude [1e-7 deg]
  int32_t lat;		  //Latitude [1e-7 deg]
  int32_t height;		//Height above ellipsoid [- mm]
  int32_t hMSL;		  //Height above mean sea level [- mm]
  uint32_t hAcc;		//Horizontal accuracy estimate [- mm]
  uint32_t vAcc;		//Vertical accuracy estimate [- mm]
  int32_t velN;		  //NED north velocity [- mm/s]
  int32_t velE;		  //NED east velocity [- mm/s]
  int32_t velD;		  //NED down velocity [- mm/s]
  int32_t gSpeed;		//Ground Speed (2-D) [- mm/s]
  int32_t headMot;	//Heading of motion (2-D) [1e-5 deg]
  uint32_t sAcc;		//Speed accuracy estimate [- mm/s]
  uint32_t headAcc;	//Heading accuracy estimate (both motion and vehicle) [1e-5 deg]
  uint16_t pDOP;		//Position DOP [0.01 -]
  uint8_t reserved1[6];		//Reserved [- -]
  int32_t headVeh;	//Heading of vehicle (2-D) [1e-5 deg]
  uint8_t reserved2[4];		//Reserved [- -]
} uBloxNAVPVTPayload;

typedef struct {
  uint32_t iTOW;		//GPS Millisecond Time of Week [- ms]
  int32_t lon;		//Longitude [1e-7 deg]
  int32_t lat;		//Latitude [1e-7 deg]
  int32_t height;		//Height above Ellipsoid [- mm]
  int32_t hMSL;		//Height above mean sea level [- mm]
  uint32_t hAcc;		//Horizontal Accuracy Estimate [- mm]
  uint32_t vAcc;		//Vertical Accuracy Estimate [- mm]
} uBloxNAVPOSLLHPayload;

typedef struct {
  uint32_t iTOW;		//GPS Millisecond Time of Week [- ms]
  int32_t fTOW;		//Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 [- ns]
  int16_t week;		//GPS week (GPS time) [- -]
  uint8_t gpsFix;		//GPSfix Type, range 0..5 0x00 = No Fix 0x01 = Dead Reckoning only 0x02 = 2D-Fix 0x03 = 3D-Fix 0x04 = GPS + dead reckoning combined 0x05 = Time only fix 0x06..0xff: reserved [- -]
  uint8_t flags;		//Fix Status Flags (see graphic below) [- -]
  int32_t ecefX;		//ECEF X coordinate [- cm]
  int32_t ecefY;		//ECEF Y coordinate [- cm]
  int32_t ecefZ;		//ECEF Z coordinate [- cm]
  uint32_t pAcc;		//3D Position Accuracy Estimate [- cm]
  int32_t ecefVX;		//ECEF X velocity [- cm/s]
  int32_t ecefVY;		//ECEF Y velocity [- cm/s]
  int32_t ecefVZ;		//ECEF Z velocity [- cm/s]
  uint32_t sAcc;		//Speed Accuracy Estimate [- cm/s]
  uint16_t pDOP;		//Position DOP [0.01 -]
  uint8_t reserved1;		//Reserved [- -]
  uint8_t numSV;		//Number of SVs used in Nav Solution [- -]
  uint32_t reserved2;		//Reserved [- -]

} uBloxNAVSOLPayload;

typedef struct {
  uint32_t iTOW;		//GPS Millisecond Time of Week [- ms]
  int32_t velN;		// NED north velocity (cm/s)
  int32_t velE;		// NED east velocity (cm/s)
  int32_t velD;		// NED down velocity (cm/s)
  uint32_t speed; // Speed (3-D) (cm/s)
  uint32_t gSpeed; // Ground Speed (3-D) (cm/s)
  int32_t heading; // Heading of motion 2-D
  uint32_t sAcc; // Speed Accuracy Estimate (cm/s)
  uint32_t cAcc; // Course Accuracy Estimate (degrees)
} uBloxNAVVELNEDPayload;

typedef struct {
  uint32_t iTOW;		//GPS Millisecond Time of Week [- ms]
  uint32_t tAcc;		//Time Accuracy Estimate [- ns]
  int32_t nano;		//Nanoseconds of second, range -1e9 .. 1e9 (UTC) [- ns]
  uint16_t year;		//Year, range 1999..2099 (UTC) [- y]
  uint8_t month;		//Month, range 1..12 (UTC) [- month]
  uint8_t day;		//Day of Month, range 1..31 (UTC) [- d]
  uint8_t hour;		//Hour of Day, range 0..23 (UTC) [- h]
  uint8_t min;		//Minute of Hour, range 0..59 (UTC) [- min]
  uint8_t sec;		//Seconds of Minute, range 0..59 (UTC) [- s]
  uint8_t valid;		//Validity Flags (see graphic below) [- -]

} uBloxNAVTIMEUTCPayload;

typedef struct {
  uint32_t iTOW;		//GPS Millisecond Time of Week [- ms]
  uint8_t gpsFix;		//GPS Fix State
  uint8_t flags;  // LSB = gpsFixOK - the only valid way of determining if a fix is actually OK.
  uint8_t fixStat;
  uint8_t flags2; // Power Save Mode State
  uint32_t ttff;
  uint32_t msss;
} uBloxNAVSTATUSPayload;

typedef struct {
  uint8_t portID;		//Port Identifier Number (see Serial [- -]
  uint8_t reserved1;		//Reserved [- -]
  uint16_t txReady;		//TX ready PIN configuration [- -]
  uint32_t mode;		//A bit mask describing the UART mode [- -]
  uint32_t baudRate;		//Baud rate in bits/second [- Bits/s]
  uint16_t inProtoMask;		//A mask describing which input protocols are active. [- -]
  uint16_t outProtoMask;		//A mask describing which output protocols are active. [- -]
  uint16_t flags;		//Flags bit mask (see graphic below) [- -]
  uint8_t reserved2[2];		//Reserved [- -]

} uBloxCFGPRTPayload;

typedef struct {
  uint8_t clsID;		//Message Class [- -]
  uint8_t msgID;		//Message Identifier [- -]
  uint8_t ck_a;
  uint8_t ck_b;
} uBloxACKACKayload;


typedef struct {
  uint8_t msgClass;		//Message Class [- -]
  uint8_t msgID;		//Message Identifier [- -]
  uint8_t rate;		//Send rate on current Port [- -]
} uBloxCFGMSGPayload;


typedef struct {
  uint16_t navBbrMask;		//BBR Sections to clear. The following Special Sets apply:
  // 0x0000 Hotstart
  // 0x0001 Warmstart
  // 0xFFFF Coldstart [- -]
  uint8_t resetMode;		//Reset Type
  // - 0x00 - Hardware reset (Watchdog) immediately
  // - 0x01 - Controlled Software reset
  // - 0x02 - Controlled Software reset (GPS only)
  // - 0x04 - Hardware reset (Watchdog) after shutdown (>=FW6.0)
  // - 0x08 - Controlled GPS stop
  // - 0x09 - Controlled GPS start [- -]
  // - 0x09 - Controlled GPS start [- -]
  uint8_t reserved1;		//Reserved [- -]
} uBloxCFGRSTPayload;

typedef struct {
  uint16_t mask;		//Parameters Bitmask. Only the masked parameters will be applied. (see graphic below) [- -]
  uint8_t dynModel;		//Dynamic Platform model: - 0 􀀀 Portable - 2 􀀀 Stationary - 3 􀀀 Pedestrian - 4 􀀀 Automotive - 5 􀀀 Sea - 6 􀀀 Airborne with <1g Acceleration - 7 􀀀 Airborne with <2g Acceleration - 8 􀀀 Airborne with <4g Acceleration [- -]
  uint8_t fixMode;		//Position Fixing Mode. - 1: 2D only - 2: 3D only - 3: Auto 2D/3D [- -]
  int32_t fixedAlt;		//Fixed altitude (mean sea level) for 2D fix mode. [0.01 m]
  uint32_t fixedAltVar;		//Fixed altitude variance for 2D mode. [0.0001 m^2]
  int8_t minElev;		//Minimum Elevation for a GNSS satellite to be used in NAV [- deg]
  uint8_t drLimit;		//Maximum time to perform dead reckoning (linear extrapolation) in case of GPS signal loss [- s]
  uint16_t pDop;		//Position DOP Mask to use [0.1 -]
  uint16_t tDop;		//Time DOP Mask to use [0.1 -]
  uint16_t pAcc;		//Position Accuracy Mask [- m]
  uint16_t tAcc;		//Time Accuracy Mask [- m]
  uint8_t staticHoldThresh;		//Static hold threshold [- cm/s]
  uint8_t dgpsTimeOut;		//DGPS timeout, firmware 7 and newer only [- s]
  uint32_t reserved2;		//Always set to zero [- -]
  uint32_t reserved3;		//Always set to zero [- -]
  uint32_t reserved4;		//Always set to zero [- -]
} uBloxCFGNAV5Payload;

typedef struct {
  uint8_t reserved1;		//Always set to 8 [- -]
  uint8_t lpMode;		//Low Power Mode 0: Max. performance mode 1: Power Save Mode (>= FW 6.00 only) 2-3: reserved 4: Eco mode 5-255: reserved [- -]
} uBloxCFGRXMPayload;

typedef union {
  uBloxNAVPVTPayload navpvt;
  uBloxCFGPRTPayload cfgprt;
  uBloxCFGMSGPayload cfgmsg;
  uBloxCFGNAV5Payload cfgnav5;
  uBloxNAVPOSLLHPayload navposllh;
  uBloxNAVSOLPayload navsol;
  uBloxNAVTIMEUTCPayload navtimeutc;
  uBloxNAVVELNEDPayload navvelned;
  uBloxNAVSTATUSPayload navstatus;
  uBloxACKACKayload ackack;
  uBloxCFGRSTPayload cfgrst;
  uBloxCFGRXMPayload cfgrxm;
} ubloxPacketData;

typedef struct __attribute__((packed)){
  uBloxHeader header;
  ubloxPacketData data;
} uBloxPacket;

void ublox_init();
void send_ublox(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t payloadSize);
void send_ublox_packet(uBloxPacket * packet);
void ublox_get_last_data(GPSEntry * gpsEntry);
uBloxChecksum ublox_calc_checksum(const uint8_t msgClass, const uint8_t msgId, const uint8_t *message, uint16_t size);
void ublox_handle_incoming_byte(uint8_t data);
void ublox_handle_packet(uBloxPacket *pkt);
uint8_t ublox_wait_for_ack();
void ubx_config_gps();
void ubx_powersave();
void ubx_eco_mode();
void ublox_gps_stop();
void ublox_gps_start();

#endif //RS41HUP_UBLOX_H